Modeling and Analysis of Physical Human-Robot Interaction of an Upper Body Exoskeleton in Assistive Applications

Modeling and Analysis of Physical Human-Robot Interaction of an Upper Body Exoskeleton in Assistive Applications

Portable exoskeletons can be used to assist elderly or disabled people in their daily activities. The physical human-robot interaction is a major concern in exoskeleton development for both functioning properly and interacting safely and comfortably. Using a model of the human musculoskeletal syste...

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Bibliographic Details
Main Authors: Simon Christensen, Xuerong Li, Shaoping Bai
Format: Article
Language:English
Published: Norwegian Society of Automatic Control 2021-10-01
Series:Modeling, Identification and Control
Subjects:
physical human-robot interaction
biomechanical modeling
assistive exoskeleton
energy exchange in phri
overhead reaching tasks
Online Access:http://www.mic-journal.no/PDF/2021/MIC-2021-4-2.pdf

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